mirror of https://github.com/ArduPilot/ardupilot
258 lines
6.8 KiB
C++
258 lines
6.8 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_BLHeli/AP_BLHeli.h>
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class AP_OSD_Backend;
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#define AP_OSD_NUM_SCREENS 4
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/*
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class to hold one setting
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*/
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class AP_OSD_Setting {
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public:
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AP_Int8 enabled;
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AP_Int8 xpos;
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AP_Int8 ypos;
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AP_OSD_Setting(bool enabled, uint8_t x, uint8_t y);
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// User settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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};
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class AP_OSD;
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/*
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class to hold one screen of settings
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*/
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class AP_OSD_Screen {
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public:
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// constructor
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AP_OSD_Screen();
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void draw(void);
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void set_backend(AP_OSD_Backend *_backend);
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// User settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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AP_Int8 enabled;
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AP_Int16 channel_min;
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AP_Int16 channel_max;
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private:
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AP_OSD_Backend *backend;
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AP_OSD *osd;
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static const uint8_t message_visible_width = 26;
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static const uint8_t message_scroll_time_ms = 200;
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static const uint8_t message_scroll_delay = 5;
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static constexpr float ah_max_pitch = DEG_TO_RAD * 20;
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//typical fpv camera has 80deg vertical field of view, 16 row of chars
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static constexpr float ah_pitch_rad_to_char = 16.0f/(DEG_TO_RAD * 80);
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AP_OSD_Setting altitude{true, 23, 8};
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AP_OSD_Setting bat_volt{true, 24, 1};
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AP_OSD_Setting rssi{true, 1, 1};
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AP_OSD_Setting current{true, 25, 2};
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AP_OSD_Setting batused{true, 23, 3};
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AP_OSD_Setting sats{true, 1, 3};
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AP_OSD_Setting fltmode{true, 2, 8};
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AP_OSD_Setting message{true, 2, 6};
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AP_OSD_Setting gspeed{true, 2, 14};
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AP_OSD_Setting horizon{true, 14, 8};
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AP_OSD_Setting home{true, 14, 1};
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AP_OSD_Setting throttle{true, 24, 11};
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AP_OSD_Setting heading{true, 13, 2};
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AP_OSD_Setting compass{true, 15, 3};
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AP_OSD_Setting wind{false, 2, 12};
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AP_OSD_Setting aspeed{false, 2, 13};
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AP_OSD_Setting vspeed{true, 24, 9};
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#ifdef HAVE_AP_BLHELI_SUPPORT
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AP_OSD_Setting blh_temp {false, 24, 13};
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AP_OSD_Setting blh_rpm{false, 22, 12};
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AP_OSD_Setting blh_amps{false, 24, 14};
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#endif
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AP_OSD_Setting gps_latitude{true, 9, 13};
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AP_OSD_Setting gps_longitude{true, 9, 14};
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AP_OSD_Setting roll_angle{false, 0, 0};
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AP_OSD_Setting pitch_angle{false, 0, 0};
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AP_OSD_Setting temp{false, 0, 0};
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AP_OSD_Setting hdop{false, 0, 0};
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AP_OSD_Setting waypoint{false, 0, 0};
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AP_OSD_Setting xtrack_error{false, 0, 0};
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AP_OSD_Setting dist{false,22,11};
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AP_OSD_Setting stat{false,0,0};
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AP_OSD_Setting flightime{false, 23, 10};
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bool check_option(uint32_t option);
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enum unit_type {
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ALTITUDE=0,
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SPEED=1,
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VSPEED=2,
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DISTANCE=3,
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DISTANCE_LONG=4,
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TEMPERATURE=5,
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UNIT_TYPE_LAST=6,
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};
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char u_icon(enum unit_type unit);
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float u_scale(enum unit_type unit, float value);
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void draw_altitude(uint8_t x, uint8_t y);
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void draw_bat_volt(uint8_t x, uint8_t y);
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void draw_rssi(uint8_t x, uint8_t y);
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void draw_current(uint8_t x, uint8_t y);
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void draw_batused(uint8_t x, uint8_t y);
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void draw_sats(uint8_t x, uint8_t y);
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void draw_fltmode(uint8_t x, uint8_t y);
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void draw_message(uint8_t x, uint8_t y);
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void draw_gspeed(uint8_t x, uint8_t y);
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void draw_horizon(uint8_t x, uint8_t y);
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void draw_home(uint8_t x, uint8_t y);
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void draw_throttle(uint8_t x, uint8_t y);
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void draw_heading(uint8_t x, uint8_t y);
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void draw_compass(uint8_t x, uint8_t y);
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void draw_wind(uint8_t x, uint8_t y);
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void draw_aspeed(uint8_t x, uint8_t y);
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void draw_vspeed(uint8_t x, uint8_t y);
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//helper functions
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void draw_speed_vector(uint8_t x, uint8_t y, Vector2f v, int32_t yaw);
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void draw_distance(uint8_t x, uint8_t y, float distance);
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#ifdef HAVE_AP_BLHELI_SUPPORT
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void draw_blh_temp(uint8_t x, uint8_t y);
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void draw_blh_rpm(uint8_t x, uint8_t y);
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void draw_blh_amps(uint8_t x, uint8_t y);
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#endif
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void draw_gps_latitude(uint8_t x, uint8_t y);
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void draw_gps_longitude(uint8_t x, uint8_t y);
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void draw_roll_angle(uint8_t x, uint8_t y);
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void draw_pitch_angle(uint8_t x, uint8_t y);
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void draw_temp(uint8_t x, uint8_t y);
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void draw_hdop(uint8_t x, uint8_t y);
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void draw_waypoint(uint8_t x, uint8_t y);
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void draw_xtrack_error(uint8_t x, uint8_t y);
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void draw_dist(uint8_t x, uint8_t y);
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void draw_stat(uint8_t x, uint8_t y);
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void draw_flightime(uint8_t x, uint8_t y);
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};
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class AP_OSD {
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public:
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friend class AP_OSD_Screen;
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//constructor
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AP_OSD();
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/* Do not allow copies */
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AP_OSD(const AP_OSD &other) = delete;
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AP_OSD &operator=(const AP_OSD&) = delete;
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// init - perform required initialisation
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void init();
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// User settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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enum osd_types {
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OSD_NONE=0,
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OSD_MAX7456=1,
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OSD_SITL=2,
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};
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enum switch_method {
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TOGGLE=0,
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PWM_RANGE=1,
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AUTO_SWITCH=2,
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};
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AP_Int8 osd_type;
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AP_Int8 rc_channel;
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AP_Int8 sw_method;
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AP_Int8 font_num;
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AP_Int8 v_offset;
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AP_Int8 h_offset;
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AP_Int8 warn_rssi;
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AP_Int8 warn_nsat;
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AP_Float warn_batvolt;
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AP_Int8 msgtime_s;
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enum {
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OPTION_DECIMAL_PACK = 1U<<0,
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OPTION_INVERTED_WIND = 1U<<1,
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OPTION_INVERTED_AH_ROLL = 1U<<2,
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};
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AP_Int32 options;
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enum {
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UNITS_METRIC=0,
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UNITS_IMPERIAL=1,
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UNITS_SI=2,
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UNITS_AVIATION=3,
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UNITS_LAST=4,
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};
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AP_Int8 units;
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AP_OSD_Screen screen[AP_OSD_NUM_SCREENS];
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struct NavInfo {
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float wp_distance;
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int32_t wp_bearing;
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float wp_xtrack_error;
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uint16_t wp_number;
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};
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void set_nav_info(NavInfo &nav_info);
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private:
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void osd_thread();
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void update_osd();
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void stats();
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void update_current_screen();
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void next_screen();
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AP_OSD_Backend *backend;
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//variables for screen switching
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uint8_t current_screen;
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uint16_t previous_channel_value;
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bool switch_debouncer;
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uint32_t last_switch_ms;
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struct NavInfo nav_info;
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uint32_t last_update_ms;
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float last_distance_m;
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float max_dist_m;
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float max_alt_m;
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float max_speed_mps;
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float max_current_a;
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};
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